(3) BEV Scene Representation. We introduce a novel method to generate high quality bird's-eye-view scene representations from single images using categorical depth distributions and projective geometry. We select the bird's-eye-view representation due to its ability to produce excellent 3D detection performance with high computational efficiency [1]}. The generated bird's-eye-view representation is used as input to a bird's-eye-view based detector to produce the final output.
